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Face detection tracking method and device and robot head rotation control method and system

A face detection and robot technology, applied in the field of face recognition, can solve the problems of inaccurate robot head rotation process, high false detection rate of face detection, non-face detection of adult faces, etc., to ensure smoothness and security. Continuity, the effect of reducing the false detection rate

Active Publication Date: 2016-12-21
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the false detection rate of existing face detection and tracking methods is high, and it is easy to detect non-faces as human faces.
According to the existing face detection and tracking method, when controlling the rotation of the robot's head, due to the high false detection rate of face detection, the process of controlling the robot's head rotation is inaccurate and prone to stuttering

Method used

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  • Face detection tracking method and device and robot head rotation control method and system
  • Face detection tracking method and device and robot head rotation control method and system
  • Face detection tracking method and device and robot head rotation control method and system

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Embodiment 1

[0071] figure 1 and figure 2 A flow chart of the face detection and tracking method in this embodiment is shown. Such as figure 1 As shown, the face detection and tracking method includes the following steps:

[0072] S11: Collect an image and perform depth detection processing on the image to obtain the depth value of each pixel in the image. It can be understood that each frame of image consists of I×J pixels, and each pixel (i, j) in the image refers to the pixel in row i and column j, and the depth value of pixel (i, j) is d(i,j). In an embodiment, a depth sensor is used to perform depth detection processing on the collected image, so as to obtain a depth value d(i, j) of each pixel point (i, j).

[0073] S12: Determine the face candidate area according to the depth value d(i, j) of each pixel point (i, j) of the current frame image. It can be understood that the face candidate area is an area where a human face may exist, and then using the face detection method to...

Embodiment 2

[0092] Figure 4 The method for controlling the head rotation of the robot in this embodiment is shown. Wherein, the robot is built with a camera device for collecting images, a depth sensor and a processor for detecting the depth of the image. The head rotation control method of the robot is mainly executed by a processor, and includes the following steps:

[0093] S21: the central area of ​​the preset image. Such as Figure 5 As shown, the lower left corner of the current frame image is the origin O to establish a coordinate system OXY, the width of the preset image is w, and the height is h; if the width of the central area of ​​the preset image is 0.1w, the height is 0.1h; Assuming that the center of the central area of ​​the image is located at the center of the preset image, the coordinates of the center A of the central area of ​​the preset image are (0.5w, 0.5h). Correspondingly, the coordinates of the lower left corner of the central area are (0.45w, 0.45h), the c...

Embodiment 3

[0101] Figure 6 A block diagram of the face detection and tracking device 1 in this embodiment is shown. Such as Figure 6 As shown, the face detection and tracking device 1 includes:

[0102] The depth detection processing module 10 is configured to collect an image and perform depth detection processing on the image, and obtain a depth value of each pixel in the image. It can be understood that each frame of image consists of I×J pixels, and each pixel (i, j) in the image refers to the pixel in row i and column j, and the depth value of pixel (i, j) is d(i,j). In an embodiment, a depth sensor is used to perform depth detection processing on the collected image, so as to obtain a depth value d(i, j) of each pixel point (i, j).

[0103] The human face candidate area determination module 20 is configured to determine the human face candidate area according to the depth value d(i, j) of each pixel point (i, j) of the current frame image. It can be understood that the face ...

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Abstract

The invention discloses a face detection tracking method and device and a robot head rotation control method and system. The face detection tracking method comprises the following steps: collecting an image and carrying out depth detection processing on the image, and obtaining a depth value of each pixel point in the image; determining a human face candidate area according to the depth value of each pixel point of the current frame image; carrying out face detection on the human face candidate area to determine a human face frame of the current frame image; and according to the human face frame of the current frame image and a tracking human face frame, determining a tracking frame of the current frame image, and carrying out tracking on the human face in the tracking frame of the current frame image. The face detection tracking method facilitates reducing mis-detection rate and improves face detection accuracy. The robot head rotation control method adopts the face detection tracking method to carry out face detection, thereby facilitating guaranteeing smoothness of the robot head rotation process, and preventing the clamping phenomenon in the rotation process.

Description

technical field [0001] The invention relates to the field of face recognition, in particular to a face detection and tracking method and device, and a robot head rotation control method and system. Background technique [0002] With the maturity of computer vision technology, computer vision technology has been widely used in people's daily life. For example, computer vision technology is used to control the robot, so that the robot has visual functions, so as to realize various intelligent operations such as detection, judgment, identification and measurement. The existing robot built-in camera equipment combined with face detection technology can detect the human face in the image collected by the robot camera, and can track the human face through mechanical movement, so that the robot head can rotate with the movement of the human face. However, the false detection rate of existing face detection and tracking methods is high, and it is easy to detect non-human faces as h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06V10/764
CPCG06V40/166G06V40/172G06T2200/04G06T2207/10016G06T2207/10028G06T2207/30201G06T7/248G06V20/64G06V40/161G06V40/168G06V10/446G06V10/764G06F18/24155G06T7/50G06T7/246B25J9/1684B25J19/02B25J9/0003
Inventor 纪园熊友军
Owner UBTECH ROBOTICS CORP LTD
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